Robot cleaner and remote monitoring system and method of the same

ABSTRACT

Disclosed are a robot cleaner and a method for controlling the same. Firstly, an obstacle may be detected by using a light pattern sensor, and a user&#39;s inconvenience due to irradiation of a light pattern may be solved. Secondly, an obstacle may be precisely detected in a three dimensional manner by using the light pattern sensor. This may allow precise creation of a cleaning map. Thirdly, a user&#39;s eyes may be prevented from being continuously exposed to a light source. This may enhance the user&#39;s convenience.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims the benefit of Korean Patent Application No.10-2011-0036431, filed on Apr. 19, 2011, which is hereby incorporated byreference for all purposes as if fully set forth herein.

BACKGROUND OF THE DISCLOSURE

1. Field of the Disclosure

The present disclosure relates to a robot cleaner and a method forcontrolling the same, and particularly, to a robot cleaner capable ofdetecting an obstacle based on a light pattern, and a method forcontrolling the same.

2. Background of the Disclosure

Generally, a robot has been developed for an industrial use, and hasmanaged some parts of factory automation. As the robot is applied tovarious fields recently, medical robots, space robots, home robots usedat homes, etc. are being developed.

A representative of the home robots is a robot cleaner, a kind of homeelectronic appliance capable of performing a cleaning operation bysucking peripheral dust particles or foreign materials whileautonomously moving on a predetermined region. This robot cleaner isprovided with a chargeable battery, and is provided with an obstaclesensor for avoiding an obstacle while moving. In case of using a sensorhaving a light source as the obstacle sensor, the light source may becontinuously exposed to a user's eyes.

SUMMARY OF THE DISCLOSURE

Therefore, an aspect of the detailed description is to provide a robotcleaner capable of protecting a user from a light pattern, and a methodfor controlling the same.

Another aspect of the detailed description is to provide a robot cleanercapable of irradiating a light pattern or stopping driving of a lightpattern sensor according to a position change of the light patternsensor, and a method for controlling the same.

To achieve these and other advantages and in accordance with the purposeof this specification, as embodied and broadly described herein, thereis provided a robot cleaner, the robot cleaner comprising: an obstacledetection unit having a light pattern sensor, and configured to detectan obstacle by using a light pattern and to output obstacle information;a position recognition unit having one or more sensors, and configuredto recognize a position of the robot cleaner and to output positioninformation; and a controller configured to control the robot cleanerbased on the obstacle information and the position information.

According to another embodiment of the present disclosure, there isprovided a robot cleaner, the robot cleaner comprising: an obstacledetection unit having a light pattern sensor, and configured to detectan obstacle by using a light pattern and to output obstacle information;a controller configured to drive the light pattern sensor when aposition change of the robot cleaner has occurred, configured to createa cleaning map based on the obstacle information, and configured tocontrol the robot cleaner based on the cleaning map; and a storage unitconfigured to store the obstacle information and the cleaning map.

The light pattern sensor may include a light source module configured toirradiate a light pattern based on the position information; a cameramodule configured to capture an image included in a region to which thelight pattern has been irradiated; and an image processing moduleconfigured to detect an obstacle by processing the image.

To achieve these and other advantages and in accordance with the purposeof this specification, as embodied and broadly described herein, thereis also provided a method for controlling a robot cleaner, the methodcomprising: detecting a position change of a robot cleaner; irradiatinga light pattern upon detection of the position change; capturing animage included in a region to which the light pattern has beenirradiated; and detecting an obstacle from the image.

The present disclosure may have the following advantages.

Firstly, an obstacle may be detected by using the light pattern sensor,and a user's inconvenience due to irradiation of a light pattern may besolved.

Secondly, an obstacle may be precisely detected in a three dimensionalmanner by using the light pattern sensor. This may allow precisecreation of a cleaning map.

Thirdly, the robot cleaner may perform a cleaning operation or may movebased on a cleaning map. This may enhance cleaning efficiency andstability of a system.

Fourthly, a user's eyes may be prevented from being continuously exposedto a light source. This may protect the user's eyes and enhance theuser's convenience.

Further scope of applicability of the present application will becomemore apparent from the detailed description given hereinafter. However,it should be understood that the detailed description and specificexamples, while indicating preferred embodiments of the disclosure, aregiven by way of illustration only, since various changes andmodifications within the spirit and scope of the disclosure will becomeapparent to those skilled in the art from the detailed description.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are included to provide a furtherunderstanding of the disclosure and are incorporated in and constitute apart of this specification, illustrate exemplary embodiments andtogether with the description serve to explain the principles of thedisclosure.

In the drawings:

FIG. 1 is a perspective view showing the appearance of a robot cleaneraccording to one embodiment of the present disclosure;

FIGS. 2 and 3 are block diagrams schematically showing a configurationof a robot cleaner according to the present disclosure;

FIG. 4 is a view for explaining an operation to detect an obstacle byusing a light pattern sensor; and

FIG. 5 is a flowchart schematically showing a method for controlling arobot cleaner according to one embodiment of the present disclosure.

DETAILED DESCRIPTION OF THE DISCLOSURE

Description will now be given in detail of the exemplary embodiments,with reference to the accompanying drawings. For the sake of briefdescription with reference to the drawings, the same or equivalentcomponents will be provided with the same reference numbers, anddescription thereof will not be repeated.

Referring to FIGS. 1 and 2, a robot cleaner according to one embodimentof the present disclosure comprises an obstacle detection unit 100, aposition recognition unit 200, and a controller 300. The obstacledetection unit 100 includes a light pattern sensor 110, and isconfigured to detect an obstacle by using a light pattern and to outputobstacle information. The position recognition unit 200 is provided withone or more sensors, and is configured to recognize the position of therobot cleaner and to output position information. And, the controller300 is configured to control the robot cleaner based on the obstacleinformation or based on both of the obstacle information and theposition information.

The obstacle detection unit 100 is configured to detect an obstacle nearthe robot cleaner while moving in a cleaning region, or while performinga cleaning operation. The obstacle detection unit 100 is configured tooutput, to the controller 300, information on an obstacle, i.e.,information on whether an obstacle exists or not or information on theposition, the size, etc. of the obstacle. The obstacle detection unit100 may further include an infrared ray sensor, an ultrasonic sensor, aradio frequency (RF) sensor, a bumper, a position sensitive device (PSD)sensor, etc. as well we the light pattern sensor 110. The controller 300may be configured to create a cleaning map based on obstacle informationoutputted from the obstacle detection unit 100.

The position recognition unit 200 is configured to recognize the currentposition of the robot cleaner within a cleaning region, and to detect aposition change. As the position recognition unit 200, may be used oneor more sensors such as an acceleration sensor, an encoder and a gyrosensor. The acceleration sensor is configured to recognize each speedand each position of the robot cleaner which is moving. The encoder isconnected to a wheel motor for driving wheels of the robot cleaner,thereby detecting a moving distance and a speed of the robot cleaner.The gyro sensor is configured to detect a rotation speed of the robotcleaner. The controller 300 may create a cleaning map based on theposition of the robot cleaner, together with obstacle information. And,the controller 300 may correct the cleaning map created based on theobstacle information, based on position information of the robotcleaner. Since the light pattern sensor is fixed to a body of the robotcleaner, the controller 300 may recognize a position change of the lightpattern sensor by a position change of the robot cleaner.

A camera 210 of FIG. 1 may be used as a position recognition unit. Thecamera 210 is installed toward the upper or front side to capture theperiphery of the robot cleaner. When the robot cleaner is provided witha plurality of cameras, the cameras may be formed on the upper or sidepart of the robot cleaner at a constant interval therebetween, or at aconstant angle therebetween. The robot cleaner may further include alens connected to a camera and focusing the camera on a subject, acamera controller configured to control the camera, and a lenscontroller configured to control the lens. As the lens, preferably usedis a lens having a wide view angle so that all the peripheral regions(e.g., all the regions on the ceiling) may be captured at apredetermined position, e.g., when the camera is toward the upper side.For instance, the lens is implemented as a lens having a view angle morethan a predetermined angle, 160°.

The robot cleaner may further include a storage unit 400 configured tostore therein a light pattern to be irradiated and an image captured bythe light pattern having been irradiated. The storage unit 400 mayfurther store therein information on an image captured by the camera210, position information, a cleaning region, a cleaning map, etc. Asthe storage unit 400, a non-volatile memory is mainly used. Thenon-volatile memory (NVM, NVRAM) indicates a storage apparatus capableof continuously maintaining stored information even in a state of nopower supply. The non-volatile memory is implemented as ROM, a flashmemory, a magnetic computer memory device (e.g., a hard disc, a diskettedrive and a magnetic tape), an optical disc drive, magnetic RAM, PRAM,etc. The light pattern sensor 110 is configured to detect an obstacle bycomparing a light pattern before irradiation (light pattern stored inthe storage unit) with a light pattern of the image after irradiation.Then, the light pattern sensor 110 is configured to create obstacleinformation, and to output the obstacle information to the controller.

Referring to FIG. 4, the light pattern sensor 110 includes a lightsource module 111 configured to irradiate a light pattern according tothe position information, and a camera module 112 configured to capturean image included in a region to which the light pattern has beenirradiated. The light source module 111 includes a laser diode (LD), alight emitting diode (LED), etc. The light pattern sensor 110 mayfurther include an additional lighting as well as the light sourcemodule 111. The camera module may be provided at the light patternsensor in one in number as shown in FIG. 1, or in two or more as shownin FIG. 4. The camera module is implemented as a structured lightcamera, and the light pattern sensor includes a laser vision sensor.

The light pattern sensor 110 includes an image processing moduleconfigured to detect an obstacle by processing the image. The imageprocessing module may be provided at the controller. The imageprocessing module is configured to detect an obstacle by processing animage captured by the camera module. As an example, the image processingmodule may detect an obstacle from an image by using a shape, an area, achange, etc. of a light pattern having been irradiated to a region.Alternatively, the image processing module may detect an obstacle byextracting a pattern of which axis is toward a predetermined direction(e.g., ‘X’ direction), and then by converting the axis direction of theextracted pattern to another direction. Still alternatively, the imageprocessing module may extract only a vertical component from an imagecaptured by one camera module, and may extract only a horizontalcomponent from an image captured by another camera module. Then, theimage processing module may create a three-dimensional (3D) pattern, anddetect an obstacle based on the 3D pattern. Then, the image processingmodule may output, to the controller, obstacle information such as thesize, the shape, etc. of an obstacle. The light pattern sensor mayfurther include a filter connected to a front end of the light sourcemodule, and configured to pass only a predetermined frequency of a lightpattern irradiated from the light source module.

The controller 300 receives obstacle information from the light patternsensor 110, and performs a cleaning operation based on the obstacleinformation. The controller 300 drives the light pattern sensor 110, andcontrols driving of the light source module and the camera module of thelight pattern sensor 110. Especially, the controller 300 drives thelight pattern sensor based on the position information received from theposition recognition unit 300. As an example, the controller 300controls an intensity, a form, a duty ratio, etc. of a light pattern tobe irradiated from the light source module. And, the controller 300controls a position, an angle, a capturing frequency (the number oftimes of capturing), etc. of the camera module. The controller 300detects a position change of the light pattern sensor based on theposition information received from the position recognition unit 300. Ifthere is no position change of the light pattern sensor as a detectionresult, the controller 300 does not drive the light source module. Onthe other hand, if there is a position change of the light patternsensor as a detection result, the controller 300 drives the light sourcemodule to irradiate a light pattern.

Referring to FIG. 3, the robot cleaner further comprises an output unit500, an input unit 600, a driving unit 700, and a power unit 800.

The output unit 500 is configured to display, on a screen, obstacleinformation, position information, a cleaning region, a cleaning map,etc., as well as the light pattern, and the image captured by the cameramodule. And, the output unit 500 may further display state information,such as a current state of each unit of the robot cleaner, and a currentcleaning state. The output unit 500 may be implemented as one of a lightemitting diode (LED), a liquid crystal display (LCD), a plasma displaypanel (PDP) and an organic light emitting diode (OLED).

A user directly inputs a control command to the robot cleaner throughthe input unit 600. Alternatively, the user may input, through the inputunit, a command instructing output of one or more information stored inthe storage unit 400. The input unit 600 is provided with an OK button,a set button, etc. The OK button is used to input a command forcertifying sensing information, obstacle information, positioninformation, a cleaning region and a cleaning map. The set button isused to input a command for setting the information. The input unit maybe provided with a reset button for inputting a command for resettingthe information, a deletion button, a cleaning start button, a stopbutton, etc. Each of the input unit 600 and the output unit 500 may beimplemented in the form of a touch screen for implementation of inputand output.

The driving unit 700 is connected to a plurality of wheels including aplurality of main wheels and one or more auxiliary wheels. And, thedriving unit 700 is provided with a wheel motor for rotating the wheels,and moves the robot cleaner by driving the wheel motor.

The power unit 800 is provided with chargeable power supply means tosupply power into the robot cleaner. The power unit 800 supplies anoperation power required when the robot cleaner moves or performs acleaning operation. When the remaining amount of the power unit 800 isdeficient, the robot cleaner moves to a charging base to supply acharging current to the power unit 800.

The robot cleaner may further comprise a cleaning unit (not shown). Thecleaning unit is provided with a suction motor for sucking the air and ameans for collecting dust, and is configured to suck peripheral dust orforeign materials.

Referring to FIG. 5, a method for controlling a robot cleaner accordingto one embodiment of the present disclosure comprises detecting aposition change of the robot cleaner (S110), irradiating a light patternupon detection of the position change (S200), capturing an imageincluded in a region to which the light pattern has been irradiated(S300), and detecting an obstacle from the image (S400). Detailedexplanations about the apparatus will be understood with reference toFIGS. 1 to 4.

The robot cleaner comprises an obstacle detection unit having a lightpattern sensor, and configured to detect an obstacle by using a lightpattern and output obstacle information, a position recognition unit,and a controller configured to control the robot cleaner. The robotcleaner recognizes its position by using each type of sensors such as anupper camera and an encoder (S100). The robot cleaner detects a positionchange, a speed change, a direction change, etc. based on positioninformation (S110). Once the position of the robot cleaner changes, theposition of a light pattern sensor provided at a body of the robotcleaner also changes. If the position of the light pattern sensorchanges, the robot cleaner periodically irradiates a light pattern. Onthe other hand, if the position of the light pattern sensor does notchange, the robot cleaner stops driving the light pattern to sensor(S200).

The method may further comprise creating a cleaning map based on anobstacle (S500). The robot cleaner captures a light pattern irradiatedby using the light pattern sensor (S300), and then creates athree-dimensional pattern. The robot cleaner creates obstacleinformation such as information on the size, the shape, etc. of anobstacle, by detecting an obstacle based on the light pattern (S400).The robot cleaner creates a cleaning map based on the obstacleinformation, and performs a cleaning operation or moves (S700). Therobot cleaner may create a cleaning map based on position informationrecognized by the position recognition unit, or may correct the createdcleaning map based on the obstacle information (S600).

The present disclosure may have the following advantages.

Firstly, an obstacle may be detected by using the light pattern sensor,and a user's inconvenience due to irradiation of a light pattern may besolved.

Secondly, an obstacle may be precisely detected in a three dimensionalmanner by using the light pattern sensor. This may allow precisecreation of a cleaning map.

Thirdly, a user's eyes may be prevented from being continuously exposedto a light source. This may protect the user's eyes and enhance theuser's convenience.

1. A robot cleaner, comprising: a position recognition unit having oneor more sensors, and configured to recognize a position of the robotcleaner and to output position information; an obstacle detection unithaving a light pattern sensor, and configured to detect an obstacle byusing the light pattern sensor and to output obstacle information; and acontroller configured to control the robot cleaner based on the obstacleinformation and the position information, wherein the light patternsensor is configured to irradiate a light pattern based on the positioninformation.
 2. The robot cleaner of claim 1, wherein the light patternsensor includes: a light source module configured to irradiate a lightpattern based on the position information; a camera module configured tocapture an image included in a region to which the light pattern hasbeen irradiated; and an image processing module configured to detect anobstacle by processing the image.
 3. The robot cleaner of claim 2,wherein the light source module is configured to irradiate a lightpattern when a position change of the light pattern sensor has occurred.4. The robot cleaner of claim 3, wherein the controller periodicallydrives the light source module when a position change of the lightpattern sensor has occurred.
 5. The robot cleaner of claim 3, whereinthe controller stops driving the light source module when a positionchange of the light pattern sensor has not occurred.
 6. The robotcleaner of claim 1, wherein the light pattern sensor is configured todetect an obstacle by comparing a light pattern before irradiation witha light pattern of the image after irradiation.
 7. The robot cleaner ofclaim 6, wherein the controller creates a cleaning map based on theobstacle information.
 8. The robot cleaner of claim 7, wherein thecontroller corrects the cleaning map based on the position information.9. The robot cleaner of claim 1, wherein the position recognition unitincludes a camera installed toward an upper side or a front side, andconfigured to capture the periphery of the robot cleaner and to outputimage information.
 10. The robot cleaner of claim 1, wherein theposition recognition unit includes at least one of: an accelerationsensor configured to recognize each speed and each position of the robotcleaner which is moving; an encoder connected to a wheel motor fordriving wheels of the robot cleaner, and configured to detect a movingdistance and a speed of the robot cleaner; and a gyro sensor configuredto detect a rotation speed of the robot cleaner.
 11. A robot cleaner,comprising: an obstacle detection unit having a light pattern sensor,and configured to detect an obstacle by using a light pattern and tooutput obstacle information; a controller configured to drive the lightpattern sensor when a position change of the robot cleaner has occurred,configured to create a cleaning map based on the obstacle information,and configured to control the robot cleaner based on the cleaning map;and a storage unit configured to store the obstacle information and thecleaning map.
 12. The robot cleaner of claim 11, further comprising aposition recognition unit having one or more sensors, and configured torecognize a position of the robot cleaner and to output positioninformation.
 13. The robot cleaner of claim 12, wherein the lightpattern sensor includes: a light source module configured to irradiate alight pattern based on the position information; a camera moduleconfigured to capture an image included in a region to which the lightpattern has been irradiated; and an image processing module configuredto detect an obstacle by processing the image.
 14. The robot cleaner ofclaim 13, wherein the camera module is a structured light camera, andthe light source module is implemented as a laser diode (LD) or a lightemitting diode (LED).
 15. The robot cleaner of claim 13, wherein theimage processing module detects an obstacle based on a shape, an areaand a change of the light pattern, or by extracting a pattern of whichaxis is toward a predetermined direction and then by converting the axisdirection of the extracted pattern to another direction.
 16. The robotcleaner of claim 13, further comprising: an output unit configured todisplay, on a screen, at least one of the light pattern, the obstacleinformation, the position information and the cleaning map; an inputunit configured to input a control command with respect to the robotcleaner; a driving unit having a wheel motor for rotating wheels, andconfigured to move the robot cleaner by driving the wheel motor; and apower unit having chargeable power supply means, and configured tosupply power into the robot cleaner.
 17. A method for controlling arobot cleaner having a light pattern sensor for detecting an obstacle byusing a light pattern, the method comprising: detecting a positionchange of the robot cleaner; irradiating a light pattern upon detectionof the position change; capturing an image included in a region to whichthe light pattern has been irradiated; and detecting an obstacle fromthe image.
 18. The method of claim 17, wherein in the step ofirradiating a light pattern, the light pattern is periodicallyirradiated when a position change of the light pattern sensor hasoccurred.
 19. The method of claim 17, wherein in the step of irradiatinga light pattern, driving of the light pattern sensor is stopped when aposition change of the light pattern sensor has not occurred.
 20. Themethod of claim 17, further comprising creating a cleaning map based onthe obstacle.